In this paper, we present a completely designed, programmed, manufactured, and tested attitude determination and control subsystem (ADCS) for the 3U form cube satellite (CubeSat). The proposed ADCS utilizes gyros, magnetometers, and sun sensors for attitude determination, and was designed to be a simple, low-cost solution to properly meet the attitude determination requirements. Meanwhile, a magnetorquer and a reaction wheel were utilized as the actuators for the control process. The accomplished work comes in forms of completely designed hardware, developed software, testing environment, and manufactured structure for the CubeSat. Firstly, regarding the designed hardware, we selected the suitable controller and electronic components for the subsystem board, implemented the required circuits, designed and fabricated the Printed Circuit Board (PCB) then assembled the components. Secondly, we built software drivers for all peripherals that are used for ADCS. These drivers include communications between the microcontroller and external devices using an agreed protocol in all subsystems, communication error detection Cyclic redundancy check (CRC), and building software to control the CubeSat actuators. Moreover, all software was combined in a real-time operating system (FreeRTOS) to be ready for the algorithm that is responsible for the amount of required movement. Thirdly, we used LabVIEW software and MATLAB software for verification, checkout, and testing to make sure all functions work properly. Finally, we designed and manufactured the structure of the 3U CubeSat.